@misc{ren2022bubble,
  title={Bubble Planner: Planning High-speed Smooth Quadrotor Trajectories using Receding Corridors},
  author={Yunfan Ren and Fangcheng Zhu and Wenyi Liu and Zhepei Wang and Yi Lin and Fei Gao and Fu Zhang},
  year={2022},
  eprint={2202.12177},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2202.12177}
}